WO2017007274A1 - Dispositif d'auto-étalonnage et procédé d'auto-étalonnage pour radar de véhicule - Google Patents

Dispositif d'auto-étalonnage et procédé d'auto-étalonnage pour radar de véhicule Download PDF

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Publication number
WO2017007274A1
WO2017007274A1 PCT/KR2016/007417 KR2016007417W WO2017007274A1 WO 2017007274 A1 WO2017007274 A1 WO 2017007274A1 KR 2016007417 W KR2016007417 W KR 2016007417W WO 2017007274 A1 WO2017007274 A1 WO 2017007274A1
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WO
WIPO (PCT)
Prior art keywords
receiver
phase
vehicle
signal
received signal
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PCT/KR2016/007417
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English (en)
Korean (ko)
Inventor
박동찬
Original Assignee
엘지이노텍 주식회사
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Application filed by 엘지이노텍 주식회사 filed Critical 엘지이노텍 주식회사
Priority to US15/742,349 priority Critical patent/US10852392B2/en
Publication of WO2017007274A1 publication Critical patent/WO2017007274A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder

Definitions

  • the present invention relates to a self-calibration device and a self-calibration method of a vehicle radar, and more particularly to a device for correcting the angle error when the radar mounted on the vehicle is misaligned.
  • vehicles are equipped with a radar in front of the vehicle in order to maintain a constant distance from the vehicle in front of the vehicle by measuring a distance from the vehicle in front of the vehicle in a moving direction or recognize an obstacle in front of the vehicle.
  • the direction of the mounted radar may be distorted due to an impact during driving, and this error may lead to a fatal accident while driving due to an error in distance measurement between the vehicle and an obstacle in front of the vehicle.
  • the problem to be solved by the present invention is to provide a self-calibration device and a self-calibration method of a vehicle radar for correcting the angle error of the radar.
  • the self-calibrating device for a vehicle radar includes a transmitter for outputting a transmission signal to a reflector disposed in front of the vehicle, and a receiver for receiving a reception signal reflected by the reflector. And a phase corrector for correcting a phase of the received signal and an angle calculator for setting the corrected phase as a reference value.
  • the self-calibrating device for a vehicle radar includes a transmitter configured to output a transmission signal to a reflector disposed in front of the vehicle, and a receiver configured to receive a received signal reflected by the reflector. Includes a plurality of receivers, a phase comparator for comparing the phases of the received signals of the plurality of receivers, and an IQ modulator for correcting the phase of the received signal by adjusting an offset according to the comparison result.
  • the radar mounted on the front of the vehicle outputs the signal toward the reflector, the reflector reflects the signal, the first receiver of the radar Comparing the phase of the second receiver and the phase of the second receiver; and correcting the phase of the second receiver when the phase of the first receiver and the phase of the second receiver are different.
  • the radar mounted on the front of the vehicle outputs a signal toward the reflector, the reflector reflects the signal, the first receiver of the radar Comparing the phase of the second receiver and the phase of the second receiver; and correcting the second IQ modulator when the phase of the first receiver and the phase of the second receiver are different.
  • Self-calibration device and self-calibration method of the vehicle radar according to an embodiment of the present invention has a self-calibration function that can correct the angle error of the vehicle radar can improve the reliability and help to drive safely.
  • FIG. 1 is a perspective view of a vehicle equipped with a radar according to an embodiment of the present invention.
  • FIG. 2 is a plan view illustrating radar correction using a reflector according to an embodiment of the present invention.
  • 3 is a view for explaining the angle error of the radar according to an embodiment of the present invention.
  • FIG. 4 is a plan view illustrating a printed circuit board of a radar according to an exemplary embodiment of the present invention.
  • FIG. 5 is a block diagram illustrating a transmitter and receiver of a radar according to an embodiment of the present invention.
  • FIG. 6 is a flowchart illustrating an operation of correcting an error of a radar according to an embodiment of the present invention.
  • FIG. 7 is a block diagram illustrating a transmitter and a receiver of a radar according to another embodiment of the present invention.
  • FIG. 8 is a block diagram illustrating an IQ modulator of a radar according to another embodiment of the present invention.
  • FIG. 9 is a flowchart illustrating an operation of correcting an error of a radar according to another embodiment of the present invention.
  • 10 and 11 are graphs illustrating a result of error correction of a radar according to another embodiment of the present invention.
  • FIG. 12 is an internal block diagram of a vehicle including a self-calibrating device for a vehicle radar according to an embodiment of the present invention.
  • FIG. 13 is a flowchart illustrating an operation of correcting an error of a radar according to an embodiment of the present invention.
  • FIG. 14 is a flowchart illustrating an operation of adjusting the position of the radar according to the embodiment of the present invention.
  • 15 is a flowchart illustrating an operation of adjusting the position of a radar according to an embodiment of the present invention.
  • 16 is a view showing the maintenance operation of the radar according to an embodiment of the present invention.
  • the vehicle described herein may be a concept including an automobile and a motorcycle.
  • a vehicle is mainly described for a vehicle.
  • the vehicle described herein may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, an electric vehicle having an electric motor as a power source, and the like.
  • the left side of the vehicle means the left side of the driving direction of the vehicle
  • the right side of the vehicle means the right side of the driving direction of the vehicle
  • FIG. 1 is a perspective view of a vehicle equipped with a radar according to an embodiment of the present invention.
  • the vehicle 1000 equipped with the radar may mount the self-calibration apparatus 100 of the vehicle radar on a front surface thereof.
  • the self-calibration apparatus 100 of the vehicle radar may be disposed on the top surface or both side surfaces of the vehicle 1000 and is not limited to the mounting position.
  • the self-calibration apparatus 100 of the vehicle radar may transmit a signal to a reflector disposed in front of the vehicle, measure a return signal received, and determine whether the vehicle is misaligned to correct itself.
  • FIG. 2 is a plan view illustrating radar self-correction using a reflector according to an embodiment of the present invention.
  • the vehicle 1000 may move along the parking lines 210 and 220 so that the vehicle 1000 is disposed to face the reflector 200, and perform self-correction by vertically aligning the reflector 200.
  • the present invention can easily correct the angle of the vehicle radar in the place where the reflector 200 is installed on the front surface irrespective of place.
  • the reflector 200 may be a corner reflector.
  • the corner reflector is a three-sided structure having a characteristic that all the radio waves incident into the effective aperture reflects back to the incident direction, regardless of the angle of incidence, and consists of three mutually orthogonal sides to correspond to one corner of the cube. It can be made in the shape to be.
  • 3 is a view for explaining the angle error of the radar according to an embodiment of the present invention.
  • FIG. 3A illustrates a case in which the self-calibration device 100a of the vehicle radar is vertically disposed with the reflector 200 and properly mounted.
  • FIG. 3B illustrates the self-calibration device of the vehicle radar ( It is a figure which shows the case where 100b) is distorted with the reflecting plate 200 by the fixed angle (theta).
  • the self-calibration device 100b of the vehicle radar is twisted by an external impact lamp as shown in FIG. can do.
  • FIG. 4 is a plan view illustrating a radar module according to an embodiment of the present invention.
  • the self-calibration apparatus 100 of a vehicle radar may include a radar module 400.
  • the radar module 400 may arrange the transmit antenna 420, the transmit processor 430, the receive antenna 450, and the receive processor 440 on the printed circuit board 410.
  • the radar module 400 detects a motion of an object in a peripheral area of the current position.
  • the radar module 400 detects information about the surrounding environment through electromagnetic waves. At this time, the radar module 400 may detect the appearance, movement, etc. of the object by the operation of the object.
  • the transmitting antenna unit 420 and the receiving antenna unit 450 perform a radio transmission / reception function of the radar module 400.
  • the transmission antenna unit 420 transmits the transmission signal to the air
  • the reception antenna unit 450 receives the reception signal from the air.
  • the transmission signal represents a radio signal transmitted from the radar module 400.
  • the received signal represents a radio signal flowing into the radar module 400 as the transmission signal is reflected by the reflector 200.
  • the transmitting antenna unit 420 may include a radiator 421, a feed line 423, a distribution unit 425, and a feed point 427.
  • the radiator 421 radiates a signal from the transmitting antenna unit 420. That is, the radiator 421 forms a radiation pattern of the transmitting antenna unit 420.
  • the radiator 421 is arranged along the feed line 423.
  • the radiator 421 is made of a conductive material.
  • the radiator 421 may include at least one of silver (Ag), palladium (Pd), platinum (Pt), copper (Gu), gold (Au), and nickel (Ni).
  • weights are individually set in the radiators 421. That is, a unique weight is set for each radiator 421.
  • the weight is obtained by resonant frequency, radiation coefficient, beam width and detection distance of the transmitting antenna 420, and is set to a value for impedance matching. This weight may be calculated according to the Taylor function or Chebyshev function.
  • each radiator 421 is formed of a parameter determined according to each weight.
  • parameters for the radiator 421 may determine the size of the radiator 421 and the shape of the radiator 421.
  • Feed lines 423 substantially feed the radiators 421. At this time, the feed lines 423 extend in one direction. The feed lines 423 are arranged side by side in the other direction. Here, the feed lines 423 are arranged spaced apart from each other at regular intervals. In addition, a signal is transmitted from one end to the other end in each feed line 423.
  • the distribution unit 425 supplies a signal from the feed point 427 to the feed line 423. At this time, the distribution unit 425 distributes the signal to the feed line (423). The distribution unit 425 extends from the feed point 427. In addition, the distribution unit 425 is connected to each of the feed line 423. This distribution unit 425 includes a plurality of feed ports. At this time, each feed port is connected to each feed line 423. Here, the feed ports may be arranged side by side in one direction. In addition, the feed ports are sequentially connected from the feed point 427.
  • the transmission processor 430 and the reception processor 440 perform a radio processing function of the radar module 400. At this time, the transmission processing unit 430 processes the transmission signal, and the reception processing unit 440 processes the reception signal.
  • the transmission processor 430 generates a transmission signal from the transmission data.
  • the transmission processor 430 outputs a transmission signal to the transmission antenna unit 420.
  • the transmission processor 430 may include an oscillator 520 of FIG. 5.
  • the oscillator may include a voltage controlled oscillator (VCO) and an oscillator.
  • the receiving antenna unit 450 may include a radiator 451, a feed line 453, and a feed point 455.
  • the radiators 451 radiate a signal from the receiving antenna unit 450. That is, the radiators 451 form a radiation pattern of the reception antenna unit 450.
  • the radiators 451 are arranged along the feed line 453.
  • the radiators 451 are made of a conductive material.
  • the radiators 451 may include at least one of silver (Ag), palladium (Pd), platinum (Pt), copper (Gu), gold (Au), and nickel (Ni).
  • weights are individually set to the radiators 451. That is, a unique weight is set for each radiator 451.
  • the weight is obtained by resonant frequency, radiation coefficient, beam width and detection distance of the receiving antenna element, and is set to a value for impedance matching. This weight may be calculated according to the Taylor function or Chebyshev function.
  • Feed line 453 substantially supplies signals to radiators 451. At this time, the feed line 453 extends from the feed point 455. Here, the feed line 453 extends in one direction. Here, a signal is transmitted from one end to the other end in the feed line 453.
  • the reception processor 440 receives a reception signal from the reception antenna unit 450.
  • the reception processor 440 generates reception data from the reception signal.
  • the reception processor 440 includes an amplifier 540 of FIG. 5 and an analog-to-digital converter ADC 550 of FIG. 5.
  • the amplifier amplifies the received signal low noise.
  • the analog-to-digital converter converts a received signal from an analog signal to digital data to generate received data.
  • FIG. 5 is a block diagram illustrating a transmitter and receiver of a radar according to an embodiment of the present invention.
  • the self-calibration apparatus 100 of a vehicle radar may include a transmitter 501 and a receiver 503.
  • the transmitter 501 may include a transmit antenna AT, an amplifier 510, a voltage controlled oscillator 520, and a modulated signal generator 530.
  • the transmission antenna AT transmits a transmission signal over the air.
  • the transmission antenna AT may have a single transmission channel.
  • the transmitting antenna AT may transmit a transmission signal through a single transmission channel.
  • This transmit antenna AT includes a feed section and a plurality of radiators.
  • the power supply unit supplies a signal to the radiators from a transmission antenna AT.
  • the feeder is made of a conductive material.
  • the feed part may include at least one of silver (Ag), palladium (Pd), platinum (Pt), copper (Gu), gold (Au), nickel (Ni).
  • the emitters emit a signal at a transmitting antenna AT. That is, the radiators form a radiation pattern of the transmitting antenna AT. At this time, the radiators are arranged to be dispersed in the feed section. Here, the radiators are arranged along feed lines. Through this, a signal is supplied from the feeder to the radiators.
  • the radiators are made of a conductive material.
  • the emitters may include at least one of silver (Ag), palladium (Pd), platinum (Pt), copper (Gu), gold (Au), and nickel (Ni).
  • the receiver 503 includes an antenna AR, an amplifier 540, an analog-digital converter 550, a phase compensator 560, an IQ modulator 570, an angle calculator 580, and a controller 590. ) May be included.
  • the receiving antenna AR, the amplifier 540, the analog-digital converter 550, the phase compensator 560, and the IQ modulator 570 are configured in a plurality of configurations, but are not limited thereto. It is not.
  • the antenna unit AR may include a plurality of antennas and may receive a received signal from the air.
  • the antenna unit AR may include a power supply unit supplying a signal to the radiators and a plurality of radiators radiating the signals.
  • the feed portion is made of a conductive material.
  • the feed part may include at least one of silver (Ag), palladium (Pd), platinum (Pt), copper (Gu), gold (Au), nickel (Ni).
  • the radiator radiates a signal from the antenna unit AR. That is, the radiator forms a radiation pattern of the receiving antenna. At this time, the radiator is disposed dispersed in the power supply unit. Here, the radiator is arranged along the feed line. Through this, a signal is supplied from the feeder to the radiator. And the radiator is made of a conductive material.
  • the radiator may include at least one of silver (Ag), palladium (Pd), platinum (Pt), copper (Gu), gold (Au), and nickel (Ni).
  • the IQ modulator 570 may finely adjust the phase of the received signal by adjusting the offset.
  • the angle calculator 580 may set the signal output from the IQ modulator 570 as a reference value and output the signal to the controller 590.
  • the reference value may be set to 0 degrees.
  • the controller 590 may control the operation of the phase compensator 560 and output a signal received from the angle calculator 580.
  • the first receiver may include a first receiving antenna AR1, a first amplifier 540a, a first analog-to-digital converter 550a, a first IQ modulator 570a, an angle calculator 580, and a controller 590. Can be.
  • the second receiver includes a second receiver antenna AR2, a second amplifier 540b, a second analog-to-digital converter 550b, a second IQ modulator 570b, a first phase corrector 560a, and an angle calculator 580. ), And a control unit 590.
  • the first phase corrector 560a may include a first phase rotator 561a and a first phase comparator 563a.
  • the first phase comparator 563a may compare a phase of a signal of the first receiver and a signal of the second receiver, and output a comparison result to the first phase rotator 561a.
  • the first phase rotator 561a equals the signal of the first receiver. Phase can be rotated.
  • the third receiver includes a third receiver antenna AR3, a third amplifier 540c, a third analog-to-digital converter 550c, a third IQ modulator 570c, a second phase corrector 560b, and an angle calculator 580. ), And a control unit 590.
  • the second phase corrector 560b may include a second phase rotator 561b and a second phase comparator 563b.
  • the second phase comparator 563b may compare the phase of the signal of the first receiver and the signal of the third receiver and output the comparison result to the second phase rotator 561b.
  • the second phase rotator 561b equals the signal of the first receiver. Phase can be rotated.
  • the fourth receiver includes a fourth receiver antenna AR4, a fourth amplifier 540d, a fourth analog-to-digital converter 550d, a fourth IQ modulator 570b, a third phase corrector 560c, and an angle calculator 580. ), And a control unit 590.
  • the third phase corrector 560c may include a third phase rotator 561c and a third phase comparator 563c.
  • the third phase comparator 563c may compare the phase of the signal of the first receiver and the signal of the fourth receiver, and output the comparison result to the third phase rotator 561c.
  • the third phase rotator 561c equals the signal of the first receiver. Phase can be rotated.
  • the first phase correction unit 560a, the second phase correction unit 560b, and the third phase correction unit 560c make the phases of the second receiver to the fourth receiver the same as that of the first receiver. You can correct it.
  • FIG. 6 is a flowchart illustrating an operation of correcting an error of a radar according to an embodiment of the present invention.
  • the transmitter of the self calibrating apparatus 100 of the vehicle radar may output a transmission signal to the reflector (S610).
  • the receiver of the self calibrating apparatus 100 of the vehicle radar may receive a signal reflected from the reflector 200 (S620).
  • the first phase compensator may receive a correction signal from the controller (S630), and the first phase comparator may compare the phase of the first receiver with the phase of the second receiver (S640). When the phase of the signal of the first receiver and the phase of the signal of the second receiver are different from each other, the first phase rotator may correct the phase of the signal of the second receiver to be the same as the phase of the signal of the first receiver (S650).
  • the second phase comparator may compare the phase of the first receiver and the phase of the third receiver (S660). When the phase of the signal of the first receiver and the phase of the signal of the third receiver are different from each other, the second phase rotator may correct the phase of the signal of the third receiver to be the same as the phase of the signal of the first receiver (S670).
  • the third phase comparator may compare the phase of the signal of the first receiver and the phase of the signal of the fourth receiver (S680). When the phase of the signal of the first receiver and the phase of the signal of the fourth receiver are different from each other, the third phase rotator may correct the phase of the signal of the fourth receiver to be equal to the phase of the signal of the first receiver (S690).
  • FIG. 7 is a block diagram illustrating a transmitter and a receiver of a radar according to another embodiment of the present invention
  • Figure 8 is a block diagram showing an IQ modulator of the radar according to another embodiment of the present invention.
  • another embodiment of the present invention may correct the received signal by the IQ modulator 760. If there is a phase difference by comparing the phases of the received signals, the IQ modulator 760 may correct the phase by adjusting the offsets I (t) and Q (t).
  • the first phase comparator 755a compares the phase of the signal of the first receiver and the signal of the second receiver, and if the phase of the signal of the first receiver is different from the phase of the signal of the second receiver, the first IQ.
  • the modulator 760a may correct the phase by adjusting the offsets I (t) and Q (t).
  • the phase shifter 810 may adjust the phase of the input signal to output the first mixer 820 and the second mixer 830.
  • the first mixer 820 may mix I (t) and the input signal, and for example, may output I (t) * cos (Wct) when the input signal is cos (Wct).
  • the second mixer 830 may mix orthogonal signals of Q (t) and the input signal, and output Q (t) * sin (Wct) when the input signal is cos (Wct).
  • the output g (t) may be the sum of I (t) cos (Wct) and Q (t) sin (Wct), and may be phase adjusted by adjusting the offsets I (t) and Q (t).
  • the second phase comparator 755b compares the phase of the signal of the first receiver and the signal of the third receiver, and if the phase of the signal of the first receiver is different from the phase of the signal of the third receiver, the second IQ.
  • the modulator 760b may correct the phase by adjusting the offsets I (t) and Q (t).
  • the third phase comparator 755c compares the phase of the signal of the first receiver and the signal of the fourth receiver, and when the phase of the signal of the first receiver is different from that of the signal of the fourth receiver, the third IQ.
  • the modulator 760c may correct the phase by adjusting the offsets I (t) and Q (t).
  • FIG. 9 is a flowchart illustrating an operation of correcting an error of a radar according to another embodiment of the present invention.
  • the transmitter of the self-calibration apparatus 100 of the vehicle radar may output a transmission signal to the reflector (S910).
  • the receiver of the self calibrating apparatus 100 of the vehicle radar may receive a signal reflected from the reflector 200 (S920).
  • the first phase comparator 755a may receive a correction signal from the controller (S930), and may compare the phase of the received signal of the first receiver with the phase of the received signal of the second receiver (S940). When the phase of the received signal of the first receiver is different from that of the received signal of the second receiver, the second IQ modulator 760b adjusts the offset so that the phase of the received signal of the second receiver is equal to that of the received signal of the first receiver. The same can be corrected (S950).
  • the second phase comparator 755b may compare the phase of the first receiver with the phase of the third receiver (S960).
  • the third IQ modulator 760c adjusts the offset to adjust the phase of the received signal of the third receiver to the phase of the received signal of the first receiver. The same can be corrected (S970).
  • the third phase comparator 755c may compare the phase of the received signal of the first receiver with the phase of the received signal of the fourth receiver (S980). If the phase of the received signal of the first receiver is different from that of the received signal of the fourth receiver, the fourth IQ modulator 760d adjusts the offset so that the phase of the signal of the fourth receiver is equal to the phase of the signal of the first receiver. It can be corrected (S990).
  • 10 and 11 are graphs illustrating a result of error correction of a radar according to another embodiment of the present invention.
  • a graph showing output g (t) of another embodiment shown in FIGS. 7 and 8 includes a phase of a received signal of the first receiver CH1 and a received signal of the second receiver CH2. It can be seen that the phase of and the output signal of the third receiver CH3 are different so that the output g (t) is different.
  • the offset of the IQ modulator is adjusted to be equal to the phase of the first receiver, and as a result, the output signal g (t) is output identically because the phase of the received signal is the same. That is, when an angle error of the radar occurs due to an external impact or the like, the error may be corrected by equally correcting the angles of other receivers based on the first receiver.
  • FIG. 12 is an internal block diagram of a vehicle including a self-calibrating device for a vehicle radar according to an embodiment of the present invention.
  • the vehicle 1000 may include a self-calibration apparatus 100, a control unit 201, a communication unit 300, an input unit 460, a sensor unit 500, and an output unit of the vehicle radar illustrated in FIG. 1. 600, the vehicle driver 719, the memory 800, the navigation 900, the power supply unit 910, and the interface unit 920 may be included.
  • the controller 201 may control the overall operation of each unit in the vehicle 1000.
  • the controller 201 may control the overall operation of each unit in the vehicle 1000.
  • the control unit 201 may be referred to as an electronic control unit (ECU).
  • the communication unit 300 may include one or more modules that enable wireless communication between the vehicle 1000 and the mobile terminal 310 and between the vehicle 1000 and the server 320. In addition, the communication unit 300 may include one or more modules for connecting the vehicle 1000 to one or more networks.
  • the communication unit 300 may include a broadcast receiving module 301, a wireless internet module 303, a short range communication module 305, a location information module 307, and an optical communication module 309.
  • the broadcast receiving module 301 receives a broadcast signal or broadcast related information from an external broadcast management server through a broadcast channel.
  • the broadcast includes a radio broadcast or a TV broadcast.
  • the wireless internet module 303 refers to a module for wireless internet access and may be embedded or external to the vehicle 1000.
  • the wireless internet module 303 is configured to transmit and receive wireless signals in a communication network according to wireless internet technologies.
  • the short range communication module 305 may form short range wireless networks to perform short range communication between the vehicle 1000 and at least one external device. For example, the short range communication module 305 may exchange data with the mobile terminal 310 wirelessly.
  • the location information module 307 is a module for obtaining the location of the vehicle 1000, and a representative example thereof is a GPS (Global Positioning System) module.
  • GPS Global Positioning System
  • the vehicle may acquire the position of the vehicle using a signal transmitted from a GPS satellite.
  • the optical communication module 309 may include an optical transmitter and an optical receiver.
  • the input unit 460 may include a driving operation unit 401, a camera 403, a microphone 405, and a user input unit 407.
  • the driving operation means 401 receives a user input for driving the vehicle 1000.
  • the driving manipulation means 401 may include a steering input means, a shift input means, an acceleration input means, and a brake input means.
  • the camera 403 may include an image sensor and an image processing module.
  • the camera 403 may process a still image or a moving image obtained by an image sensor (for example, CMOS or CCD).
  • the image processing module may process the still image or the moving image obtained through the image sensor, extract necessary information, and transfer the extracted information to the controller 201.
  • the vehicle 1000 may include a camera 403 for capturing a vehicle front image or a vehicle surrounding image.
  • the microphone 405 may process an external sound signal as electrical data.
  • the processed data may be utilized in various ways depending on the function being performed in the vehicle 1000.
  • the microphone 405 may convert the voice command of the user into electrical data.
  • the converted electrical data may be transmitted to the controller 201.
  • the user input unit 407 is for receiving information from a user. When information is input through the user input unit 407, the controller 201 may control the operation of the vehicle 1000 to correspond to the input information.
  • the user input unit 407 may include a touch input means or a mechanical input means. According to an embodiment, the user input unit 407 may be disposed in one region of the steering wheel. In this case, the driver may manipulate the user input unit 407 with a finger while holding the steering wheel.
  • the sensor unit 500 senses a signal related to driving of the vehicle 1000.
  • the sensor unit 500 may include a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor.
  • the output unit 600 outputs the information processed by the controller 201 and may include a display unit 601, a sound output unit 603, and a haptic output unit 605.
  • the display unit 601 may display information processed by the controller 201.
  • the display unit 601 may display vehicle related information.
  • the vehicle related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for driving guide to the vehicle driver.
  • the vehicle related information may include vehicle state information indicating a current state of a vehicle or vehicle driving information related to driving of the vehicle.
  • the display unit 601 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (flexible). display, a 3D display, or an e-ink display.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-liquid crystal display
  • OLED organic light-emitting diode
  • flexible display flexible display
  • display a 3D display, or an e-ink display.
  • the display unit 601 forms a layer structure with or is integrally formed with the touch sensor, thereby implementing a touch screen.
  • a touch screen may function as a user input unit 407 that provides an input interface between the vehicle 1000 and the user, and may provide an output interface between the vehicle 1000 and the user.
  • the display unit 601 may include a touch sensor that senses a touch on the display unit 601 so as to receive a control command by a touch method.
  • the touch sensor may sense the touch, and the controller 201 may generate a control command corresponding to the touch based on the touch sensor.
  • the content input by the touch method may be letters or numbers or menu items that can be indicated or designated in various modes.
  • the display unit 601 may include a cluster (cluster) so that the driver can check the vehicle status information or vehicle driving information while driving.
  • the cluster can be located on the dashboard. In this case, the driver can check the information displayed on the cluster while keeping the gaze in front of the vehicle.
  • the display unit 601 may be implemented as a head up display (HUD).
  • HUD head up display
  • information may be output through a transparent display provided in the wind shield.
  • the display unit 601 may include a projection module to output information through an image projected on the wind shield.
  • the sound output unit 603 converts an electric signal from the control unit 201 into an audio signal and outputs the audio signal.
  • the sound output unit 603 may include a speaker.
  • the sound output unit 603 may output sound corresponding to the operation of the user input unit 407.
  • the haptic output unit 605 generates a tactile output.
  • the haptic output unit 605 may operate by vibrating the steering wheel, the seat belt, and the seat so that the user can recognize the output.
  • the vehicle driver 719 can control the operation of various vehicle devices.
  • the vehicle driver 719 includes a power source driver 701, a steering driver 703, a brake driver 705, a lamp driver 707, an air conditioning driver 709, a window driver 711, an airbag driver 713, and a sunroof.
  • the driver 715 and the suspension driver 717 may be included.
  • the power source driver 701 may perform electronic control of the power source in the vehicle 1000.
  • the steering driver 703 may perform electronic control of a steering apparatus in the vehicle 1000. As a result, the traveling direction of the vehicle can be changed.
  • the brake driver 705 may perform electronic control of a brake apparatus (not shown) in the vehicle 1000.
  • the speed of the vehicle 1000 may be reduced by controlling the operation of the brake disposed on the wheel.
  • the traveling direction of the vehicle 1000 may be adjusted to the left or the right.
  • the lamp driver 707 may control turn on / turn off of a lamp disposed in or outside the vehicle.
  • the air conditioning driver 709 may perform electronic control of an air cinditioner (not shown) in the vehicle 1000. For example, when the temperature inside the vehicle is high, the air conditioner may be operated to control cold air to be supplied into the vehicle.
  • the window driver 711 may perform electronic control of a window apparatus in the vehicle 1000. For example, the opening or closing of the left and right windows of the side of the vehicle can be controlled.
  • the airbag driver 713 may perform electronic control of an airbag apparatus in the vehicle 1000.
  • the airbag can be controlled to burst.
  • the sunroof driver 715 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 1000. For example, the opening or closing of the sunroof can be controlled.
  • the suspension driver 715 may perform electronic control of a suspension apparatus (not shown) in the vehicle 1000.
  • the suspension device may be controlled to control the vibration of the vehicle 1000 to be reduced.
  • the memory 800 may store various data for operations of the entire vehicle 1000, such as a program for processing or controlling the control unit 201.
  • the navigation 900 may transmit and receive the set destination information, route information according to the destination, map information or vehicle location information related to driving of the vehicle with the controller 201.
  • the power supply unit 910 may supply power required for the operation of each component under the control of the controller 201.
  • the power supply unit 910 may receive power from a battery (not shown) in the vehicle.
  • the interface unit 920 may serve as a path to various types of external devices connected to the vehicle 1000.
  • the interface unit 920 may include a port connectable to the mobile terminal 310, and may be connected to the mobile terminal 310 through the port. In this case, the interface unit 920 may exchange data with the mobile terminal 310.
  • FIG. 13 is a flowchart illustrating an operation of correcting an error of a radar according to an embodiment of the present invention.
  • the vehicle 1000 may move along the parking line for self-calibration of the mounted radar (S1310).
  • the camera 403 may take an image to determine whether the vehicle 1000 and the parking lines 210 and 220 are parallel (S1320).
  • the controller 201 may analyze the image captured by the camera 403 and determine whether the vehicle 1000 is parked in parallel with the parking line (S1330).
  • an operation of correcting an error of the radar described with reference to FIGS. 6 and 9 may be performed (S1340), and when the correction is completed, the correction result may be displayed on the display unit 601 (S1350).
  • FIG. 14 is a diagram for displaying a calibration result of a radar according to an exemplary embodiment of the present invention.
  • the display unit 601 may display an image related to a correction operation of the self-calibration device of the vehicle radar.
  • the display unit 601 may include a cluster or a head up display (HUD) on the front of the vehicle interior.
  • the head-up display is disposed on the windshield of the vehicle, and may include a transparent film or a reflective lens.
  • the head-up display may provide information to the driver by projecting the correction result of the self-calibration device of the vehicle radar onto the transparent film or the reflective lens.
  • the correction result may be displayed on the message windows 161 and 163 and provided to the driver, but is not limited to the content displayed on the message window.
  • 15 is a flowchart illustrating an operation of adjusting the position of a radar according to an embodiment of the present invention.
  • the self-calibration apparatus 100 of a vehicle radar may store a correction result in the memory 800, and the controller 201 may determine whether maintenance is required on the display unit 601 when the radar correction history is retrieved. Can water. If it is input by the driver that maintenance is necessary, the correction result may be loaded from the vehicle 1000 and provided to the vehicle repair shop (S1510). That is, the vehicle repair shop may adjust the mounting position of the self-calibration device 100 of the vehicle radar according to the correction result received from the vehicle 1000 (S1520). Thereafter, the correction result may be displayed on the display unit 601 and provided to the driver (S1530).
  • 16 is a view illustrating a maintenance operation of a radar according to an embodiment of the present invention.
  • the controller 201 may display whether maintenance is necessary on the display unit 601. Whether the maintenance is necessary may be displayed on the message windows 161 and 163 and provided to the driver, and the driver may input whether the maintenance is necessary through the user input unit 407.
  • the self-calibration device and self-calibration method of a vehicle radar according to an embodiment of the present invention can be used in the field of radar systems.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif d'auto-étalonnage pour un radar de véhicule, selon un mode de réalisation de la présente invention, qui comprend : une partie de transmission pour émettre un signal de transmission à une plaque de réflexion disposée à l'avant d'un véhicule; et une partie de réception pour recevoir un signal de réception réfléchi par la plaque de réflexion, dans lequel la partie de réception comprend: une partie de correction de phase pour corriger la phase du signal de réception; et une partie de calcul d'angle pour régler la phase corrigée en tant que valeur de référence.
PCT/KR2016/007417 2015-07-08 2016-07-08 Dispositif d'auto-étalonnage et procédé d'auto-étalonnage pour radar de véhicule WO2017007274A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/742,349 US10852392B2 (en) 2015-07-08 2016-07-08 Self-calibration device and self-calibration method for vehicle radar

Applications Claiming Priority (2)

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KR10-2015-0096953 2015-07-08
KR1020150096953A KR102386670B1 (ko) 2015-07-08 2015-07-08 차량용 레이더의 자가 보정 장치 및 자가 보정 방법

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KR20170006393A (ko) 2017-01-18
US10852392B2 (en) 2020-12-01
KR102386670B1 (ko) 2022-04-14

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